Robert Cicale, a Republican district court judge from Suffolk County, told cops he was in the house on Donna Place in East Islip Thursday and left when he heard the young woman come home, the complaint says. The woman called her mother, who then called 911, and cops found Cicale a few blocks away.

"He was found to be in possession with soiled female undergarments that we believe were either proceeds of this burglary or a prior burglary," Suffolk County Acting Police Commissioner Stuart Cameron said after the arrest Thursday.

According to the complaint, Cicale admitted the "panties" he had on him when he was arrested were "from other times I went into the house."

Suffolk County District Attorney Tim Sini said the judge also indicated in his confession that "he has urges to steal women's underwear."

It's not clear if he targeted the 23-year-old's house for a specific reason or had been to others. It's also not clear how many times he was in her home.

Prosecutors said the woman identified him, and that he did write a letter of apology to her. Despite the admission, according to the complaint, Cicale pleaded not guilty Friday to second-degree burglary, a class C felony.